WO2021048001A1 - Procédé pour épandre un produit à pulvériser sur une surface agricole - Google Patents

Procédé pour épandre un produit à pulvériser sur une surface agricole Download PDF

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Publication number
WO2021048001A1
WO2021048001A1 PCT/EP2020/074691 EP2020074691W WO2021048001A1 WO 2021048001 A1 WO2021048001 A1 WO 2021048001A1 EP 2020074691 W EP2020074691 W EP 2020074691W WO 2021048001 A1 WO2021048001 A1 WO 2021048001A1
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WO
WIPO (PCT)
Prior art keywords
field section
spray
plant
area
agricultural
Prior art date
Application number
PCT/EP2020/074691
Other languages
German (de)
English (en)
Inventor
Oliver Meil
Jochen Glasbrenner
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to EP20771786.9A priority Critical patent/EP4027782B1/fr
Priority to AU2020344868A priority patent/AU2020344868A1/en
Priority to US17/625,007 priority patent/US20220287290A1/en
Priority to BR112022004245A priority patent/BR112022004245A2/pt
Publication of WO2021048001A1 publication Critical patent/WO2021048001A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

Definitions

  • the invention relates to a method for applying a spraying agent onto an agricultural area by means of a spray nozzle unit of an agricultural spraying device as well as a control unit and an agricultural spraying device for applying a spraying agent according to the preamble of the independent claims.
  • Today's atomizer nozzles with which the crop protection agent is applied to the field to be treated are characterized by the following technical parameters: spray angle (spray exit angle from nozzle), lateral distribution (spray distribution in transverse direction), longitudinal distribution (spray distribution in the direction of movement), spray depth, application rate depending on Pressure and medium, droplet spectrum, angle of rotation of the spray nozzle.
  • the spray depth is of particular importance for needs-based application. If the crop protection agent is applied over a large area or a spot is sprayed with crop protection agent and the field sprayer moves in the direction of movement, the spray must be run over the entire spray depth in order to achieve 100% of the set amount on the surface. If the spray process is ended or started, the field with insufficient quantity is treated within the spray depth.
  • the present invention relates to a method for applying a spray agent to an agricultural area by means of a spray nozzle unit of an agricultural spray device, with the steps:
  • the present invention also relates to a control unit which is set up to carry out and / or control the following steps: Identification of plants in a first evaluation area of a received first image information of a first field section of an agricultural area detected by means of an optical detection unit;
  • the present invention also relates to an agricultural spraying device for applying a spraying agent onto an agricultural area with at least one spray nozzle unit, at least one optical detection unit and a control unit described above.
  • the subject matter of the present invention is a computer program which is set up to carry out all the steps of a method described above and / or a control unit described above, as well as a machine-readable storage medium with the computer program stored thereon.
  • an agricultural purpose can be understood to mean a purpose which is aimed at the economic cultivation of useful plants.
  • the spraying agent is applied to an agricultural area or an agriculturally used area.
  • This can be understood to mean a field or a cultivation area for plants or also a parcel of such a cultivation area.
  • the agricultural area can thus be arable land, grassland or pasture.
  • the plants can, for example, be useful plants, the fruit of which is used for agriculture (for example as food, feed or as an energy crop) as well as weeds, weeds and grass weeds.
  • All steps of the method are preferably carried out during a movement, in particular a journey or a flight, of the agricultural spraying device over the agricultural area.
  • the agricultural spraying device is advantageously designed to carry out the method in an automated manner in order to enable a field to be treated quickly, reliably and efficiently.
  • the agricultural spraying device can in particular be part of an agricultural field sprayer or a plant protection device or it can be designed as an agricultural field sprayer or a plant protection device.
  • the agricultural spraying device can comprise a mobile unit or be arranged on a mobile unit, wherein the mobile unit can in particular be designed as a land vehicle and / or aircraft and / or trailer.
  • the mobile unit can in particular be an agricultural machine, for example a tractor, a tractor, a self-propelled or autonomous field sprayer or a self-propelled or autonomous robot.
  • the agricultural spraying device can in particular be a trailed field sprayer, a self-propelled field sprayer or a mounted field sprayer.
  • the agricultural spraying device can also be attached to a hydraulic device of an agricultural working machine.
  • the agricultural spraying device is set up on a loading area of an agricultural work machine.
  • the spray device can be attached to the agricultural machine.
  • the agricultural spraying device or the field sprayer can have at least one spray agent tank for receiving the spray agent.
  • the agricultural spraying device or the field sprayer can also have a mixing unit which directly on the agricultural spraying device mixes a spray concentrate with water to form the spray to be applied.
  • the spray agent is in particular a spray liquid.
  • the spray agent can be an agricultural preparation or plant protection agent (PPP), in particular a Have or be pesticide concentrate.
  • PPP plant protection agent
  • the spray agent can accordingly contain a pesticide, such as, for example, a herbicide, fungicide or an insecticide.
  • the spray agent can also comprise or be a fertilizer, in particular a fertilizer concentrate.
  • the spray can have a growth regulator.
  • the spray agent can have a granular active agent which has been mixed with a carrier liquid.
  • the spray liquid can, for example, be designed as: liquid, suspension, emulsion, solution or a combination thereof.
  • the spray liquid is preferably designed as a plant protection agent diluted with water or a fertilizer diluted with water.
  • the spray liquid can accordingly be, for example, a spray mixture.
  • the spray agent can be applied in particular by means of a delivery unit.
  • the delivery unit can be designed to deliver or convey a liquid and / or a granulate under pressure, in particular to dose it.
  • the delivery unit can, for example, each comprise one / one / one or more pumps, delivery pumps, metering pumps, pressure accumulators, screw conveyors, valves, orifices, etc.
  • the spray nozzle unit preferably has at least one spray nozzle for dispensing the spray agent and at least one valve for controlling and / or controlling.
  • the spray nozzle unit is designed to be controllable or actuatable.
  • the valve can be arranged or integrated in the spray nozzle. However, the valve can also be connected upstream of the spray nozzle, that is to say upstream of the spray nozzle (in the direction of flow of the spray medium).
  • the spray nozzle unit can, however, also have several spray nozzles, each with an upstream valve.
  • the spray nozzle unit can also have a plurality of spray nozzles with only one valve connected upstream of the spray nozzles, so that when the valve is actuated the spray agent is discharged by means of all spray nozzles of the spray nozzle unit.
  • the valve can be designed as a pulse width modulated valve (PWFM valve), pulse width frequency modulated valve (PWFM) or as a proportional valve.
  • the spray nozzle unit can be designed as a partial width of a nozzle system of the agricultural spray device.
  • the spray nozzle units can be controllable individually or separately and / or in defined groups or associations and / or all together.
  • the Spray nozzles of each spray nozzle unit can be controlled individually or separately and / or in defined groups or associations and / or all together.
  • the optical detection unit can comprise at least one multispectral and / or hyperspectral and / or infrared and / or camera and / or 3D camera.
  • the optical acquisition unit can be designed to acquire or record images in the NIR and / or visual range.
  • Optical detection units can be designed to communicate with one another.
  • the spray nozzle unit or the spray nozzle units and the optical detection unit or the optical detection units are preferably arranged on a spray boom of the agricultural spraying device.
  • the captured field section can be a capture section or a captured image section of an optical capture unit.
  • the detected field section is preferably the entire field section detected in the field of view of the optical detection unit. Accordingly, the first field section, the second field section and the further field sections in the direction of movement as well as adjacent field sections have essentially the same length and essentially the same width.
  • the first field section, the second field section and the further field sections form (in the direction of movement) a strip of the agricultural area.
  • the image information is preferably an image or image of the captured field section.
  • the method or the method steps are understandably carried out repeatedly.
  • the steps of detecting the field sections are preferably carried out or carried out repeatedly in a defined, in particular fixed or in a time interval adapted to the driving speed of the agricultural spraying device.
  • the field sections are recorded with a defined or a speed-dependent repetition rate.
  • the step of identifying plants can include detecting a color component, in particular an infrared component, in the field section or image section.
  • plants can be detected by means of the optical detection unit, for example on the basis of a predetermined NDVI value (Normalized Differentiated Vegetation Index, it is formed from reflection values in the near infrared and visible red wavelength range of the light spectrum) by biomass or vital plants and plant parts from the soil a distinction is made.
  • NDVI value Normalized Differentiated Vegetation Index, it is formed from reflection values in the near infrared and visible red wavelength range of the light spectrum
  • An evaluation area is the area which is evaluated by means of the control unit in order to determine the plant identification number.
  • the evaluation area can encompass the entire image information or the entire image, i.e. the entire field section recorded. However, an evaluation area can also only comprise a defined sub-area of the image information or the image, i.e. of the field section.
  • the first evaluation area preferably has essentially the same length in the direction of movement as the captured first image information.
  • the plant identification number can represent or be a degree of coverage of plant material and / or an amount of plant material and / or a number of identified plants.
  • the degree of coverage can be defined via the ratio of the area covered by plant material to the total area.
  • the degree of coverage is therefore the ratio of the area of the overgrown area to the respective total evaluation area.
  • the number of pixels in the respective evaluation area on which plant material is detected can be determined. Accordingly, a measure for the infestation can be derived by means of the plant code number, depending on which a decision is made as to whether and, if so, how the corresponding field section is sprayed or treated.
  • the first plant identification number can represent or be a degree of coverage of the first field section by plant material and / or an amount of plant material in the first field section and / or a number of identified plants in the first field section.
  • the step of identifying plants can comprise the step of determining the plant identification number.
  • the step of identifying plants and the step of determining the plant identification number can also be carried out together (for example if the spray is to be applied as soon as a plant is identified).
  • the spray agent is preferably applied in the application step when a defined threshold value for the first plant index is reached and / or fallen below and / or exceeded. That is to say, in other words, that the step of applying the spray agent can include a comparison of the identified plant index with a threshold value, the application step being carried out when the threshold value is reached and / or undercut and / or exceeded.
  • the threshold value can be entered manually or specified by an external system, e.g. a cloud service.
  • a so-called spraying rule can be stored, i.e. a connection between a certain plant index and the decision as to whether and how much pesticide should be applied.
  • the rule could be: “If the degree of coverage in the weed area> 5%, then it is applied”.
  • the spray is in particular independent of an evaluation of second image information of the second field section, in particular independent of an identification of plants in a second evaluation area of the second image information and / or of a determination of a second plant code of a second evaluation area of the second image information applied the second field section. That means, in other words, that the spray agent can also be applied “flat rate” to the second Field section is applied if the first field section has been treated beforehand.
  • the spraying agent is preferably continuous or continuous in the direction of movement at least from an initial limit of the first field section up to at least
  • subsequent further field sections are also considered if, for example, the further (third) field section adjoining the second field section is essentially completely treated and plants worthy of treatment are identified in the subsequent further (fourth) field section.
  • spraying is carried out in the first field section if necessary, in the following second field section always, in the third field section as far as necessary. If, however, the third field section is essentially completely sprayed, then in the fourth field section as far as necessary. If here, too, the spraying is essentially complete, then in the fifth as far as necessary, and so on.
  • uniform application can be understood to mean application with the same or constant predefined application quantity per area.
  • a predefined application rate can be understood to mean an application rate established beforehand or at the beginning of the treatment.
  • the defined application rate can be preset or entered in advance.
  • the control unit comprises a processing unit for processing signals or data, at least one memory unit for storing signals or data, at least one communication interface for reading in data, in particular for receiving image information and for outputting data, in particular control signals, to a unit, in particular an actuator .
  • the computing unit can be, for example, a signal processor, a microcontroller or the like, wherein the storage unit can be a flash memory, an EPROM or a magnetic storage unit.
  • the communication interface can be designed to read in or output data wirelessly and / or wired, with a communication interface that can input or output wired data, for example, feed this data electrically or optically from a corresponding data transmission line or output it into a corresponding data transmission line.
  • the method according to the invention provides an optimized operating strategy which makes it possible to minimize the proportion of field sections of an agricultural area treated with insufficient quantities in order to avoid or minimize the risk of plant protection agent resistance of the plants on the agricultural area, as described in the introduction. This is achieved in particular by reducing the number of coherently sprayed field sections and thus the switching on and off processes of the nozzle units.
  • the spray agent is preferably applied when a defined threshold value for the further plant index is reached and / or fallen below and / or exceeded.
  • the further plant identification number can in particular represent a degree of coverage of the further field section by plant material and / or an amount of plant material in the further field section and / or a number of identified plants in the further field section.
  • the spray agent is preferably applied when the degree of coverage is greater than zero and / or when at least one plant is identified.
  • the number of contiguous sprayed field sections and thus the switching on and off processes of the nozzle units can be further reduced, which further reduces the risk of the plants being resistant to pesticides on the agricultural area. Furthermore, this risk can be minimized by applying the spray when the degree of coverage is greater than zero and / or when at least one plant is identified.
  • the spray is applied to essentially the entire respective field section, provided that at least one plant, in particular of a defined size, is identified or recognized in the respective field section, and in the adjacent field section by means of the adjacent spray nozzle unit spray agent is applied and / or should be.
  • this measure also applies the spray agent to one of the field sections if a transversely adjacent field section is treated and furthermore at least one plant is identified or at least one plant in the respective field section . is recognized.
  • Fig. 1 is a schematic representation of an agricultural item
  • FIG. 2 shows a schematic illustration of field sections of an agricultural area for explaining an operating strategy
  • 3a, b show a schematic representation of field sections to explain a further embodiment of the operating strategy
  • FIG. 5 shows a flow chart of a method.
  • FIG. 1 shows a schematic representation of an agricultural spraying device which is provided in its entirety with the reference number 10.
  • the agricultural spraying device 10 is designed as a field sprayer 10.
  • the field sprayer 10 is arranged on a mobile land vehicle 12, which is designed as a tractor 12 or tractor 12.
  • the agricultural spraying device 10 has a spray boom 14.
  • Spray nozzle units 16 and optical detection units 18 are arranged on spray boom 14.
  • the spray nozzle units 16 are designed to apply a spray 20 to plants 22 or weeds 22 of an agricultural area 24.
  • the optical detection units 18 are designed as optical cameras 18.
  • the optical cameras 18 each include a filter unit in order to extract a color component such as the red color component of a received or captured image information or a captured image in order to capture plants 22 or weeds 22.
  • the agricultural spraying device 10 also has a delivery unit (not shown), by means of which the application quantity or an active agent quantity in the spray agent 20 to be applied can be set or varied.
  • the agricultural spraying device 10 also has a control unit 26 which is connected to the optical cameras 18 in order to receive information therefrom.
  • the control unit 26 has a computing unit 28 which is designed to carry out computation steps or image processing steps for carrying out the method according to the invention.
  • the control unit 26 is also designed to output a control signal in such a way that the spray agent 20 is applied by means of the spray nozzle units 16 as a function of the identified plant code.
  • FIG. 2 shows a section of the agricultural area 24, which by means of three optical detection units 18A, 18B, 18C (18A-C) or cameras 18A, 18B, 18C (18A-C) of the agricultural spraying device 10 was detected while the agricultural spraying device 10 was being passed in the direction of movement 30.
  • the cameras 18A-C are arranged next to one another transversely to the direction of movement 30 on the spray boom 14.
  • Field sections A1, A2, A3, A4 (Al-4) were detected using the camera 18A, field sections B1, B2, B3, B4 (Bl-4) using the camera 18B and field sections CI, C2, C3, C4 (Cl-4 ) captured by the camera 18C.
  • the field sections A1, B1, CI were recorded, an image information item 32 or an image 32 being generated in each case.
  • an evaluation area 34 of the respective image information 32 obtained which in the exemplary embodiment shown comprises the entire respective image 32 or the entire respective field section A1, B1, CI, plants 22 were then searched for by means of a control unit 26 in order to determine a plant identification number in each case and in Depending on this, to apply the spray 20 with a defined minimum amount per area in accordance with the operating strategy.
  • the plant identification number is a number of identified plants 22, the threshold value being defined as three plants.
  • the spray 20 applied by means of the corresponding spray nozzle unit 16 or a positive “spray decision” is present. Plants were not identified in any of the field sections A1, B1, CI, which is why the spray 20 is defined with the The minimum amount per area according to the operating strategy was not applied to the field sections Al, Bl, CI.
  • the spray 20 was also “flat-rate” on the essentially entire field sections A3, B3 in the direction of movement 30 adjoining the treated field sections A2, B2 , regardless of whether the plant code was exceeded there or not (no plants 22 were identified in field section A3).
  • the field sections A2, A3 and B2, B3 were continuously sprayed or treated by means of the corresponding spray nozzle unit 16. Since the plant code was exceeded in the evaluation area 34 of the image 32 of the field section C3, the spraying agent 20 was also applied to the entire field section C3.
  • the field sections A4, B4, C4 adjoining in the direction of movement 30 were recorded. Analogous to the procedure explained above, the spray was applied “flat rate” with the defined minimum amount per area also to field section C4, although no plants 22 were identified there. Here, too, the field sections C3, C4 were continuously sprayed or treated by means of the corresponding spray nozzle unit 16.
  • a plant identification number of the evaluation area 34 of the image 32 was determined again from the subsequently recorded adjacent field section A4, B4.
  • This plant identification number can be different from the previously mentioned one or have a different threshold value. In the embodiment shown however, the same plant indicators and thresholds are involved. Since no plant 22 was identified in field section B4, spray 20 with the defined minimum amount per area was not applied there.
  • the threshold was exceeded, so that the step or the process of applying the spray 20 was continued with the defined minimum amount per area on the field section A4.
  • the spray 20 was only applied up to and including the last identified plant 22 in the direction of movement 30.
  • areas 36 are also shown or marked in FIG. 2 in which small quantities have been applied.
  • 3a, b show field sections Al, B1, CI, Dl, El (Al-El) arranged next to one another and each detected by means of an optical detection unit 18 as a comparison of the operating strategy explained above and a further embodiment of the operating strategy.
  • the threshold for the number of identified plants 22 from which spraying agent 22 is applied is also three plants 22. In the operating strategy according to FIG - El happens. Therefore, spraying agent 20 with the defined minimum amount per area was applied only to the field section B1.
  • the operating strategy shown in FIG. 3b provides that, alternatively, the spray 20 with the defined minimum amount per area is applied to one of the field sections A1-E1 even if at least one plant 22 is identified in the respective field section A1-E1 is and in a transversely to the direction of movement 30 adjoining field section Al-El spray 20 is and / or is to be applied. Therefore, the spray agent 20 with the defined minimum amount per area was also applied to the field sections CI and D1 by means of a spray nozzle unit 16 each. Analogously to the operating strategies according to FIGS. 3 a, b, FIGS.
  • the method 100 comprises a step of detecting 102 a first field section A1-E4 of the agricultural area 24 by means of an optical device Detection unit 18, 18A-C in order to obtain first image information 32 from the first field section A1-E4.
  • the method 100 further includes a step of identifying 104 plants 22 in a first evaluation area 34 of the received first image information 32 of the first field section A1-E4 by means of a control unit 26.
  • the method 100 also includes a step of determining 106 a first plant identification number of the first evaluation area 34 using the identified plants 22 in the first evaluation area 34 by means of the control unit 26.
  • the method further comprises a step of applying 108 the spray 20 with a defined minimum amount per area on the essentially entire first field section A1-E4 and essentially one total second field section A1-E4 of the agricultural area 24 adjoining the first field section A1-E4 in the direction of movement 30 of the agricultural spraying device 10 depending on the determined first plant code of the first evaluation area 34 by means of the spray nozzle unit 16 of the agricultural sprayer 10.
  • the method 100 further comprises an additional step of capturing 110 a further field section A1-E4 of the agricultural area 24 adjoining the second field section A1-E4 in the direction of movement 30 by means of the optical detection unit 18, 18A-C for further image information 32 of the further field section A1-E4; an additional step of identifying 112 plants 22 in a further evaluation area 34 of the further image information 32 obtained the further field section A1-E4 by means of the control unit 26; an additional step of determining 114 a further plant identification number of the further evaluation area 34 using the identified plants 22 in the further evaluation area 34 by means of the control unit 26; and an additional step of continuing 116 the step of applying 108 the
  • Field section A1-E4 as a function of the additional plant identification number determined by means of the spray nozzle unit 16 of the agricultural spraying device 10. If an exemplary embodiment comprises an “and / or” link between a first feature and a second feature, this should be read in such a way that the exemplary embodiment according to one embodiment has both the first feature and the second feature and according to a further embodiment either only the first feature or only the second feature.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Soil Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Catching Or Destruction (AREA)
  • Application Of Or Painting With Fluid Materials (AREA)

Abstract

L'invention concerne un procédé pour épandre un produit à pulvériser (20) sur une surface agricole (24) au moyen d'un ensemble buse de pulvérisation d'un dispositif de pulvérisation agricole, comprenant les étapes consistant : à détecter au moins une première zone de champs (A1-E4) de la surface agricole (24) au moyen d'une unité de détection optique pour acquérir une première information d'image (32) de la première zone de champs (A1-E4) ; à identifier des plantes (22) dans une première zone d'évaluation (34) de la première information d'image (32) obtenue de la première zone de champs (A1-E4) au moyen d'une unité de commande ; à déterminer un premier indice végétal de la première zone d'évaluation (34) au moyen des plantes (22) identifiées dans la première zone d'évaluation (34) au moyen de l'unité de commande ; et à épandre le produit à pulvériser (20) selon une quantité minimale définie par surface sur la première zone de champs (A1-E4) sensiblement dans sa totalité et une deuxième zone de champ (A1-E4) de la surface agricole (24), adjacente à la première zone de champs (A1-E4) sensiblement dans sa totalité dans la direction de déplacement (30) du dispositif de pulvérisation agricole, en fonction du premier indice végétal déterminé de la première zone d'évaluation (34) au moyen de l'ensemble buse de pulvérisation du dispositif de pulvérisation agricole.
PCT/EP2020/074691 2019-09-11 2020-09-04 Procédé pour épandre un produit à pulvériser sur une surface agricole WO2021048001A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP20771786.9A EP4027782B1 (fr) 2019-09-11 2020-09-04 Procédé de distribution d'un agent liquide sur une surface agricole
AU2020344868A AU2020344868A1 (en) 2019-09-11 2020-09-04 Method for applying a spray onto agricultural land
US17/625,007 US20220287290A1 (en) 2019-09-11 2020-09-04 Method for applying a spray agent onto an agricultural area
BR112022004245A BR112022004245A2 (pt) 2019-09-11 2020-09-04 Método para a aplicação de um meio de pulverização sobre uma superfície agrícola

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019213779.2A DE102019213779A1 (de) 2019-09-11 2019-09-11 Verfahren zum Ausbringen eines Spritzmittels auf eine landwirtschaftliche Fläche
DE102019213779.2 2019-09-11

Publications (1)

Publication Number Publication Date
WO2021048001A1 true WO2021048001A1 (fr) 2021-03-18

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PCT/EP2020/074691 WO2021048001A1 (fr) 2019-09-11 2020-09-04 Procédé pour épandre un produit à pulvériser sur une surface agricole

Country Status (7)

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US (1) US20220287290A1 (fr)
EP (1) EP4027782B1 (fr)
AU (1) AU2020344868A1 (fr)
BR (1) BR112022004245A2 (fr)
DE (1) DE102019213779A1 (fr)
HU (1) HUE063770T2 (fr)
WO (1) WO2021048001A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
WO2022128380A1 (fr) * 2020-12-15 2022-06-23 Robert Bosch Gmbh Procédé d'application d'une pulvérisation sur un terrain agricole

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DE102020117911A1 (de) * 2020-07-07 2022-01-13 Deere & Company Verfahren zum Pflanzenanbau in einem regelmäßigen Muster mit standortangepasster Variation der Pflanzendichte
US20220211025A1 (en) * 2021-01-06 2022-07-07 Cnh Industrial America Llc System and method for performing spraying operations with an agricultural sprayer
DE102021203937A1 (de) * 2021-04-21 2022-10-27 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ausbringen zweier unterschiedlicher Spritzmittel auf eine landwirtschaftliche Fläche
DE102021203938A1 (de) * 2021-04-21 2022-10-27 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ausbringen zweier unterschiedlicher Spritzmittel auf eine landwirtschaftliche Fläche
DE102021203936A1 (de) * 2021-04-21 2022-10-27 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ausbringen zweier unterschiedlicher Spritzmittel auf eine landwirtschaftliche Fläche
JP2022183959A (ja) * 2021-05-31 2022-12-13 ヤンマーホールディングス株式会社 自動走行方法、自動走行システム、及び自動走行プログラム
DE102021210514A1 (de) * 2021-09-22 2023-03-23 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ausbringen eines Spritzmittels auf eine landwirtschaftliche Fläche

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DE102019213779A1 (de) 2021-03-11
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BR112022004245A2 (pt) 2022-05-31
EP4027782A1 (fr) 2022-07-20
US20220287290A1 (en) 2022-09-15

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